Repository for the Hackathon at the `Future PhD in Control' in Hannover, April 2025.

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In groups from 2-4, the students work on a self-chosen optimal control problem.

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Organisation

Timetable

• Day 1, 17:00 - 18:30, Introduction to Hackathon, find groups
• Day 2, 8:30, Project Committments (Group Members and Project Working Title)
• Day 2, 8:30 - 12:30, Hackathon
• Day 2, 12:30 – 14:15, Presentation of hackathon results by participants

Groups of 2-4 students, supervised by PhD students and Professors.

Ideas for Models & Methods

For inspiration, we prepared a few models and methods that you can use as a starting point.

Ideas for Models:

• 2D-XY Bicycle
• 2D-XZ Drone
• 2D-XZ Rocket

Ideas for Methods:

• Open Loop
  • Open Loop Planning
• Closed Loop
  • Linear Quadratic Regulator
  • Model Predictive Control

For every of the models and the methods, we prepared examples, that you can use as a starting point.

Tools & Installation

For this you need Hackathon, you will need python and an IDE installed on your computer. We use the python framework CasAdi to formulate OCPs. If you already have Python installed on your system or want to use another IDE, feel free to skip to bullet 4.

• Install Python for your operating system
• Install VS Code
• Install the Python Extension for VS Code
• Install the required python packages:
  • Start a terminal
  • Type and press enter:

     pip install numpy scipy matplotlib casadi control

Getting Started

First, please follow the installation instructions above.

1. If you have git installed, clone this repository using git clone into a folder of choice. Alternatively, you can just download the folder directly from Github.
2. Navigate to the cloned folder in your terminal
3. Run the example file

   python examples/droneXZLQR.py

   If you see a figure popping up, that means that everything works as intended. If you have trouble settings things up, please reach out to us via email: jakob.harzer(at)imtek.uni-freiburg.de, Yunfan.Gao(at)de.bosch.com